CN105301470B - A kind of CRH5 types bullet train traction drive IGBT method for diagnosing faults - Google Patents
A kind of CRH5 types bullet train traction drive IGBT method for diagnosing faults Download PDFInfo
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Abstract
The invention discloses a kind of CRH5 types bullet train traction drive IGBT method for diagnosing faults, including：Traction element bond graph models：Traction invertor, traction electric machine and gear-box Bond Graph Model are established respectively；System modelling：Establish high ferro traction drive model, operating status when simulation system is normal and IGBT failures；Establish global parsing redundancy relationship：System global parsing redundancy relationship after simplifying is established, fault signature matrix, analysis system fault propagation path are obtained；Fault diagnosis：System output is substituted into global parsing redundancy relationship and forms residual error set and consistency vector, is compared with fault signature matrix, detecting system health status simultaneously positions the IGBT sources of trouble.The present invention proposes to diagnose high ferro trailer system IGBT failures with bonding drawing method, motor model is established using more bond graphs, unified Modeling is carried out to Mechatronic Systems and positions the IGBT elements that are out of order, solution is provided for the modeling of CRH5 type bullet train traction drives and IGBT fault diagnosises.
Description
Technical field
The invention belongs to Technique of Fault Diagnosis in Systems fields, refer to a kind of CRH5 types bullet train traction drive
IGBT method for diagnosing faults.
Background technology
Bullet train operating system is that the personal safety and safety of property of a large complicated engineering system and passenger are closely bound up,
Therefore there is high requirement to system reliability.Traction drive is EMU key components, multiple by having between component
Miscellaneous energy domain coupled relation, unit failure are easy Spreading and diffusion, influence the normal table operation of whole system.Inverter IGBT elements
It is link particularly significant and multiple failure in CRH5 bullet train trailer systems, the fault diagnosis and mechanism of transmission of IGBT elements
Research is the active demand of current research hotspot and enterprise.
That there are detection times is long for existing inverter IGBT fault diagnosis technologies, can not accurate isolated fault the deficiencies of can not
Meet actual demand.
Bond Graph Method is a kind of modeling method of the system dynamics of transmission and the conversion of description power, in a graphical form
The power transfer and dynamic structure of system are described, bond graph element with clear physical significance and stringent cause and effect are passed through
Relationship, can vividly describe the information between system element, in depth describe the change procedure of internal system state.In bond graph
Quantitative/qualitative fault diagnosis technology constructed on the basis of modeling, overcome traditional fault diagnosis technology it is many not
Foot, with it is traditional based on model, based on method for diagnosing faults such as data compared with, the method based on bond graph be more easy to disclose equipment or
The operation mechanism of internal system establishes system global parsing redundancy relationship formula by known parameters and measurable variable signal, obtains
Residual error set is compared with fault signature matrix, analysis system fault propagation path, positioning failure source.
Invention content
Above-mentioned the deficiencies in the prior art are directed to, the purpose of the present invention is to provide a kind of pseudo- machines for establishing trailer system
Model is managed, realize the purpose of the accurate isolation IGBT sources of trouble and ensures the CRH5 type bullet train Traction Drives of system safety operation
System IGBT method for diagnosing faults.
In order to achieve the above objectives, a kind of fault diagnosis sides CRH5 types bullet train traction drive IGBT of the invention
Method includes the following steps：
1) traction element bond graph models：According to each modular structure, traction invertor, traction electric machine and gear are established respectively
Case Bond Graph Model；
2) system modelling：Each bonding module is connected using key, establishes high ferro traction drive model, simulation system
Operating status when normal and IGBT failures；
3) global parsing redundancy relationship is established：According to system element causal path, it is superfluous to establish system global parsing after simplifying
Remaining relationship obtains fault signature matrix, analysis system fault propagation path；
4) fault diagnosis：During train operation, by sensor acquisition system component variant output signal, by system
Output substitutes into global parsing redundancy relationship and forms residual error set and consistency vector, is compared with fault signature matrix, detects
System health status simultaneously positions the IGBT sources of trouble.
Preferably, above-mentioned steps 1) in component bond graph modeling specifically include：
11) according to its circuit diagram of voltage-type three-phase inverter, each half-bridge is equivalent at conducting resistance and switch series connection
The form of shutdown resistance in parallel again, wherein switch by the modulated converter MTF controls of standard bonding pel part, by conducting resistance and
Switch is described with bond graph SW elements；
According to equivalent circuit graph topological structure, be respectively adopted standard component potential source Se define inverter input direct-current voltage,
Resistance element R defines equivalent resistance, capacitive element C defines the auxiliary element for avoiding causality conflict, 0- knots/1- knots define simultaneously
Connection/series circuit configuration is connected each element using the key that can transmit energy and forms three-phase inverter Bond Graph Model；
12) for three-phase squirrel-cage asynchronous motor, it is based on its equivalent circuit, traction electric machine is established under referential
Transformational relation such as formula (1) between the two-phase synchronous rotating frame of Park models, wherein rest frame and rotor flux linkage orientation
It is shown, shown in voltage equation such as formula (2), shown in torque equation such as formula (3),
Wherein：ua,ub,ucFor former three-phase input voltage, usM,usT,usoFor converted voltage, ρ (t) is between M axis and a axis
Angle；
Wherein：Rs,RrRespectively stator resistance and rotor resistance, u=[usM usT urM urT]TTurn for every corresponding stator
Sub- voltage,For every corresponding stator rotor electric current, ωFFor two phase coordinate system angular speed,For every corresponding stator rotor magnetic flux, p=d/dt is differential divisor；
Wherein：npFor number of pole-pairs；
According to equivalent circuit graph topological structure, using more Bond Graph Methods, three phase electric machine is described with matrix form, it is similar to be
Monophase system, is respectively adopted that resistance element R defines winding resistance and friction coefficient, inductive element I define winding inductance and rotation
Inertia, adjustable potential source MSe define counter electromotive force, and adjustable converter MTF defines transformation matrix, and gyrator definition is adjusted
MGY defines electric torque coefficient, and 0- knots/1- knots are defined parallel/series circuit structure, connected using the key that can transmit energy
Each element forms traction electric machine Bond Graph Model；
13) for uni-drive gear box, shown in equation such as formula (4),
Wherein：M is transmission ratio, and ω is driving wheel angular speed, ω0For driven wheel angular speed；
At Bond Graph Method simulation software 20-sim, according to gear box structure, using resistance element R define friction coefficient,
Inductive element I defines rigidity and rotary inertia, converter TF define transmission ratio, and 0- knots/1- knots define mechanical structure, using can
It transmits the key of energy and forms uni-drive gear box Bond Graph Model to connect each element.
Preferably, above-mentioned steps 2) in establish system Bond Graph Model and specifically include：It is drawn and is passed according to CRH5 bullet trains
Dynamic systematic schematic diagram, obtains each component input and output and topological structure, is to connect with standard key elements and more bond graph integrated elements
It connects, cascades each component Bond Graph Model, form holonomic system model and corresponded with former vehicle；CRH5 is used in Bond Graph Model
The actual parameter of each component of bullet train trailer system, simulation analysis system fault-free and inverter IGBT occur under single fault
System features.
Preferably, above-mentioned steps 3) in establish system global parsing redundancy relationship and specifically include：
31) simplify system model, motor and gear-box are simplified to the load of Y types of attachment；
32) object is become with 0- knots/1- all in model after simplification, according to each element causality and path, derived
System global parsing redundancy relationship, retains the mutually contradictory relational expression of structure, and number is consistent with system sensor number；
33) according to global parsing redundancy relationship formula, its relevant component parameters is analyzed, derives fault signature matrix, point
Analysis system fault propagation path obtains the diagnosticability and isolability of each component parameters.
Preferably, above-mentioned steps 4) in method for diagnosing faults specifically include：
41) by sensor acquisition system variable signal, gained output substitution global parsing redundancy relationship formula is formed residual
Difference set and consistency vector；
42) gained consistency vector and fault signature matrix are compared, judges system health status, slave phase is the same as vector line point
Analysis obtains counter element parameter, the positions positioning failure IGBT.
The CRH5 type bullet train traction drive IGBT method for diagnosing faults of the present invention, leads for CRH5 bullet trains
Draw transmission system, be based on Bond Graph Theory, establishes inverter, traction electric machine and gear-box cascade Bond Graph Model, emulation system
Operating status of uniting and IGBT Failure Injection Techniques monitor system health using quantitative method for diagnosing faults by forming residual error
State, and the IGBT sources of trouble are positioned, ensure safe train operation, the presence of timely and effective detection switch device fault.
Beneficial effects of the present invention：
One, bond graph modeling avoids the shortcomings that mathematical modeling is not easy to realize for multipotency domain complex system modeling, and true
Real system corresponds, and builds graphical model, internal system is clear in structure clear；
Two, the more Bond Graph Models of traction electric machine have been built, have simplified three phase electric machine with a matrix type in two phase coordinate systems
Bond Graph Model, be more clear intuitive；
Three, on the basis of verifying Correctness of model, IGBT failures is injected, traditional modeling method specific fault is compensated for and is not easy
The shortcomings that simulation；
Four, using the method for quantitative analysis, fault signature matrix, Cong Zhongfen are obtained by establishing global parsing redundancy relationship
Fault propagation path is analysed, the sources positioning failure IGBT solve and diagnose fault source inaccuracy caused by fault propagation.
Description of the drawings
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is inverter equivalent circuit diagram；
Fig. 3 is traction electric machine equivalent circuit diagram；
Fig. 4 is gear box structure figure；
Fig. 5 is traction drive Bond Graph Model figure；
Fig. 6 is system model figure after simplifying.
Specific implementation mode
For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.
Shown in referring to Fig.1, a kind of CRH5 types bullet train traction drive IGBT method for diagnosing faults of the invention is first
First according to system actual physics model buildings system Bond Graph Model, residual error then is built using the method for quantitative analysis to carry out
Fault diagnosis works, and comprises the following specific steps that：
1) traction element bond graph models：
Drawing method is bonded based on law of conservation of energy, is suitable for multipotency amount domain system model foundation, with each energy domain
Corresponding variable indicates as shown in table 1：
1 energy variable of table and generalized state variable
Bullet train traction drive is a specific admixture Mechatronic Systems, first according to each modular structure, establishes lead respectively
Draw inverter, traction electric machine and gear-box Bond Graph Model.
It specifically includes as follows：
11) for voltage-type three-phase inverter, equivalent circuit diagram such as Fig. 2, by IGBT in each half-bridge and diode
Combination, it is equivalent at conducting resistance RonParallel connection turns off resistance R again with switch series connectionoffForm, controlled by boolean vector a wherein switching
The modulated converter MTF of standard bonding pel part processed realizes that 0 and 1 respectively represents switch off state and closed state, will be connected
Resistance and switch are merged into port an element SW, characteristic equation f=a2*(1/Ron)*e；
At Bond Graph Method simulation software 20-sim, according to inverter equivalent circuit graph topological structure, built using method of joints
Vertical Bond Graph Model, method are as follows：A. 0- knots are placed at each sys node in circuit；B. source element and 0- knot between or
A 1- knot is placed between person's each two 0- knots, each 1- ties all elements of connection series arm；C. between all elements
It is connected with key, direction is consistent with power flow direction；D. bond graph simplifies；Standard component potential source Se is respectively adopted and defines inverter
Input direct-current voltage, resistance element R define equivalent resistance, capacitive element C defines the auxiliary element for avoiding causality conflict, profit
Each element is connected with the key that can transmit energy forms three-phase inverter Bond Graph Model；
12) for three-phase squirrel-cage asynchronous motor, equivalent circuit diagram such as Fig. 3 establishes traction electricity under referential
Turn between the two-phase synchronous rotating frame (M-T) of machine Park models, wherein rest frame (a-b-c) and rotor flux linkage orientation
It changes shown in relationship such as formula (1), shown in magnetic flux equation such as formula (2), shown in voltage equation such as formula (3), torque equation such as formula (4) institute
Show,
Wherein：ua,ub,ucFor former three-phase input voltage, usM,usT,usoFor input voltage after conversion, ρ be M axis and a axis it
Between angle, MsFor coordinate axis transform matrix；
Wherein：For every corresponding stator rotor magnetic flux, Lls,Llr,LmRespectively stator
Leakage field sense, rotor leakage sense and mutual inductance, Ls=Lls+Lm, Lr=Llr+LmRespectively stator self inductance and rotor self-induction, i=[isM isT
irM irT]TFor every corresponding stator rotor electric current；
Wherein：Rs,RrRespectively stator resistance and rotor resistance, u=[usM usT urM urT]TTurn for every corresponding stator
Sub- voltage,For two phase coordinate system angular speed, npFor number of pole-pairs, p=d/dt is differential divisor；
At Bond Graph Method simulation software 20-sim, according to equivalent circuit graph topological structure, using more Bond Graph Methods, by three
Phase motor is described with matrix form, and similar is monophase system, intuitive and convenient, be respectively adopted more bond graph resistance element R definition around
Group resistance and friction coefficient, inductive element I define winding inductance and rotary inertia, adjustable potential source MSe define counter electromotive force, can
It adjusting converter MTF and defines coordinate axis transform matrix, adjustable gyrator MGY defines electric torque coefficient,The proportionality coefficient of MGY is defined, 0- knots/1- knots define parallel/series circuit knot
Structure is modeled according to method of joints in step 11), and each element is connected using the key that can transmit energy and forms traction electric machine bond graph
Model；
13) for uni-drive gear box, structure chart such as Fig. 4, equation such as formula (5) is shown,
Wherein：M is transmission ratio, and ω is driving wheel angular speed, ω0For driven wheel angular speed；
At Bond Graph Method simulation software 20-sim, according to gear box structure, using resistance element R define friction coefficient,
Inductive element I defines rigidity and rotary inertia, converter TF define transmission ratio, and 0- knots/1- knots define mechanical structure, using can
It transmits the key of energy and forms uni-drive gear box Bond Graph Model to connect each element.
2) system modelling：
With reference to CRH5 bullet train traction drive schematic diagrams, according to each component input and output and topological structure, with mark
Quasi- key elements and more bond graph integrated elements are connection, cascade each component bond graph submodule, inject real system parameter, are established
As Fig. 5 high ferro traction drive Bond Graph Model and with former vehicle correspond, debug and verify taken system model just
True property injects IGBT failures on the basis of model, and operating status when analogue system failure understands system failure mode and consequence.
3) global parsing redundancy relationship is established：
Fault diagnosis of hybrid systems is to establish restriction relation reality by known input, sensing data and parameter etc.
Existing, this restriction relation comprising all on off states, that is, global parsing redundancy relationship.CRH5 bullet train Traction Drives system
System is the coupling of multipotency domain, a non-linear complex large system, and for current transformer component there are a variety of switching modes, IGBT is system extremely
It easily raises difficult questions and solves failure, therefore the present invention passes through acquisition DC side electric current, three-phase output voltage according to system element causal path
And load three-phase current output, system global parsing redundancy relationship after simplifying is established, fault signature matrix, analysis system are obtained
Fault propagation path.
31) due to studying inverter components IGBT single faults, therefore simplify system model and obtain such as Fig. 6, by motor and gear-box
It is simplified to the load of Y types of attachment；
32) a is definediThe state (i={ 1 ..., q }, q are switch element number) for indicating each switch element, defines N tables
Show all the sensors { De, Df } number；
33) n is definediIndicate the key number on i switching nodes；It defines controlled 1- and ties niThe flow variables of a key are expressed as
ai·fi j(j=1 ..., ni), it defines controlled 0- and ties niThe gesture variable of a key is expressed as
34) object is become with 0- knots/1- all in model after simplification, according to each element causality and path, derived
System global parsing redundancy relationship, retains the mutually contradictory relational expression of structure, and number is consistent with system sensor number；
35) node is selected, its analytical redundancy relation is listed based on characteristic equation, according to causal path by known variables
It is indicated with known parameters and measurable variable, until analytical redundancy relation is free of known variables；
36) repeat step 35) until in bond graph all nodes be considered, finally retain the independent overall situation of N number of structure
Analytical redundancy relation formula is derived from node 0 respectively2, 09, 011, 013, 110, 112, 114, global parsing redundancy relationship formula such as formula (6)：
GARRS1=Is1-a1(Se-Ua)/Ron1-(Se-Ua)/Roff1-a3(Se-Ub)/Ron3
-(Se-Ub)/Roff3-a5(Se-Uc)/Ron5-(Se-Uc)/Roff5
GARRS2=a1(Se-Ua)/Ron1+(Se-Ua)/Roff1-a4(Ua-Se1)/Ron4
-(Ua-Se1)/Roff4-Ia
GARRS3=a3(Se-Ub)/Ron3+(Se-Ub)/Roff3-a6(Ub-Se1)/Ron6
-(Ub-Se1)/Roff6-Ib
GARRS4=a4(Se-Uc)/Ron4+(Se-Uc)/Roff4-a2(Uc-Se1)/Ron2
-(Uc-Se1)/Roff2-Ic
The element for including in global parsing redundancy relationship formula has detectability, and spy of being out of order can be derived according to this characteristic
Matrix is levied, can regard binary vector as per a line is known as consistency vector C=[c1,...,cN], wherein consistency vector is unique
Row counter element has separability, such as table 2：
The fault signature matrix of 2 three-phase inverter of table
The diagnosticability and isolability of each component parameters, analysis system fault propagation way can be obtained by upper table
Diameter.
4) fault diagnosis：
Numerical value, that is, residual error of global parsing redundancy relationship formula, for diagnosing fault source position.During train operation, lead to
Cross sensor acquisition system component variant output signal, by system output substitute into global parsing redundancy relationship formed residual error set and
Consistency vector, is compared with fault signature matrix, detecting system health status and the sources positioning failure IGBT.
41) by sensor acquisition system variable signal, gained output substitution global parsing redundancy relationship formula is formed residual
Difference set；
42) when fault-free, all residual values tend to 0, and when a failure occurs, corresponding residual error exceeds threshold value, and threshold value is specific
To carry out experiment determination according to object, since l-G simulation test interference is smaller, it is believed that threshold value 0.Consistency vector C=[c1,...,
cN] in each element ciJudgment rule it is as follows：
Wherein riFor corresponding residual values, εiFor respective threshold；
43) gained consistency vector and fault signature matrix are compared, judges system health status, slave phase is the same as vector line point
Analysis obtains counter element parameter, the positions positioning failure IGBT.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of CRH5 types bullet train traction drive IGBT method for diagnosing faults, which is characterized in that include the following steps：
1) traction element bond graph models：According to each modular structure, traction invertor, traction electric machine and gear-box key are established respectively
Close graph model；
2) system modelling：Each bonding module is connected using key, establishes high ferro traction drive model, and simulation system is normal
With operating status when IGBT failures；
3) global parsing redundancy relationship is established：According to system element causal path, establishes system global parsing redundancy after simplifying and close
System, obtains fault signature matrix, analysis system fault propagation path；
4) fault diagnosis：During train operation, by sensor acquisition system component variant output signal, by system output
It substitutes into global parsing redundancy relationship and forms residual error set and consistency vector, compared with fault signature matrix, detecting system
Health status simultaneously positions the IGBT sources of trouble；
Above-mentioned steps 1) in component bond graph modeling specifically include：
11) according to the circuit diagram of voltage-type three-phase inverter, each half-bridge is equivalent in parallel again at conducting resistance and switch series connection
The form of resistance is turned off, wherein switching by the modulated converter MTF controls of standard bonding pel part, conducting resistance and switch are used
Bond graph SW elements describe；
According to equivalent circuit graph topological structure, standard component potential source Se is respectively adopted and defines inverter input direct-current voltage, resistive
Element R defines equivalent resistance, capacitive element C defines the auxiliary element for avoiding causality conflict, the knot definition of 0- knots/1- it is in parallel/
Series circuit configuration is connected each element using the key that can transmit energy and forms three-phase inverter Bond Graph Model；
12) for three-phase squirrel-cage asynchronous motor, it is based on its equivalent circuit, traction electric machine Park moulds are established under referential
Shown in transformational relation such as formula (1) between the two-phase synchronous rotating frame of type, wherein rest frame and rotor flux linkage orientation, electricity
It presses shown in equation such as formula (2), shown in torque equation such as formula (3),
Wherein：ua,ub,ucFor former three-phase input voltage, usM,usT,usoFor converted voltage, angles of the ρ (t) between M axis and a axis
Degree；
Wherein：Rs,RrRespectively stator resistance and rotor resistance, u=[usM usT urM urT]TFor every corresponding stator rotor electricity
Pressure, i=[isM isT irM irT]TFor every corresponding stator rotor electric current, ωFFor two phase coordinate system angular speed,For every corresponding stator rotor magnetic flux, p=d/dt is differential divisor；
Wherein：npFor number of pole-pairs；
According to equivalent circuit graph topological structure, using more Bond Graph Methods, three-phase squirrel-cage asynchronous motor is retouched with matrix form
It states, is monophase system, be respectively adopted that resistance element R defines winding resistance and friction coefficient, inductive element I define winding inductance
Counter electromotive force is defined with rotary inertia, adjustable potential source MSe, adjustable converter MTF defines transformation matrix, and gyrator is adjusted
Define MGY and define electric torque coefficient, 0- knots/1- knots define parallel/series circuit structure, using the key that can transmit energy come
It connects each element and forms traction electric machine Bond Graph Model；
13) for uni-drive gear box, shown in equation such as formula (4),
Wherein：M is transmission ratio, and ω is driving wheel angular speed, ω0For driven wheel angular speed；
At Bond Graph Method simulation software 20-sim, according to gear box structure, friction coefficient, perception are defined using resistance element R
Element I defines rigidity and rotary inertia, converter TF define transmission ratio, and 0- knots/1- knots define mechanical structure, and utilization can transmit
The key of energy forms uni-drive gear box Bond Graph Model to connect each element.
2. CRH5 types bullet train traction drive IGBT method for diagnosing faults according to claim 1, feature exist
In above-mentioned steps 2) in establish system Bond Graph Model and specifically include：According to CRH5 bullet train traction drive schematic diagrams,
Each component input and output and topological structure are obtained, is connection with standard key elements and more bond graph integrated elements, cascades each component
Bond Graph Model forms holonomic system model and is corresponded with former vehicle；It is drawn using CRH5 bullet trains in Bond Graph Model
System features under single fault occur for the actual parameter of various parts, simulation analysis system fault-free and inverter IGBT.
3. CRH5 types bullet train traction drive IGBT method for diagnosing faults according to claim 1, feature exist
In above-mentioned steps 3) in establish system global parsing redundancy relationship and specifically include：
31) simplify system model, motor and gear-box are simplified to the load of Y types of attachment；
32) object is become with 0- knots/1- all in model after simplification, according to each element causality and path, derivation system
Global parsing redundancy relationship, retains the mutually contradictory relational expression of structure, and number is consistent with system sensor number；
33) according to global parsing redundancy relationship formula, its relevant component parameters is analyzed, derives fault signature matrix, analysis system
System fault propagation path, obtains the diagnosticability and isolability of each component parameters.
4. CRH5 types bullet train traction drive IGBT method for diagnosing faults according to claim 1, feature exist
In above-mentioned steps 4) in method for diagnosing faults specifically include：
41) by sensor acquisition system variable signal, gained is exported and substitutes into global parsing redundancy relationship formula formation set of residuals
It closes and consistency is vectorial；
42) gained consistency vector and fault signature matrix are compared, judges that system health status, slave phase are analyzed with vector line
To counter element parameter, the positions positioning failure IGBT.
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| CN103853889A (en) * | 2014-03-12 | 2014-06-11 | 南京航空航天大学 | Power electronic system fault diagnosis method based on bond graph |
| CN104298812A (en) * | 2014-09-11 | 2015-01-21 | 西安电子科技大学 | Quick simulation analysis method for radar antenna servo system |
| CN104765681A (en) * | 2015-03-18 | 2015-07-08 | 株洲南车时代电气股份有限公司 | Automated train drive control software testing system and method |
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